#include <loopPlanner.h>
Signals | |
| void | loopUpdate () |
| Emmitted after a full loop is completed. | |
Public Member Functions | |
| void | addToAvoidList (GraspPlanningState *state) |
| Adds another state to the avoid list (and implicitly to the list of solutions). | |
| virtual void | clearSolutions () |
| Also clears the avoid list. | |
| virtual const GraspPlanningState * | getGrasp (int i) |
| Gets grasps from the avoid list instead of the best list. | |
| virtual int | getListSize () |
| Returns the size of the avoid list. | |
| virtual PlannerType | getType () |
| The type of this planner, for easier run-time check. | |
| LoopPlanner (Hand *h) | |
| ~LoopPlanner () | |
Protected Member Functions | |
| virtual void | resetParameters () |
| Places the best solutions currently available in the avoid list. | |
Protected Attributes | |
| std::list< GraspPlanningState * > | mAvoidList |
| The list of states to be avoided during the current loop. | |
| float | mDistanceThreshold |
| The distance to be kept from the avoided states. | |
The Loop Planner is a Sim Ann planner that will loop forever. After each loop, it will place the best state found in this loop in the list of avoidable states, so that at the next run it will search somewhere else.
After a couple of loops, the solutions found over the entire planning time are thus found in the avoid list, rather in the best list which just stores the solutions found in the current loop.
Definition at line 47 of file loopPlanner.h.
| LoopPlanner::LoopPlanner | ( | Hand * | h | ) |
Definition at line 37 of file loopPlanner.cpp.
| LoopPlanner::~LoopPlanner | ( | ) |
Definition at line 53 of file loopPlanner.cpp.
| void LoopPlanner::addToAvoidList | ( | GraspPlanningState * | state | ) | [inline] |
Adds another state to the avoid list (and implicitly to the list of solutions).
Also takes ownership of the passed state, and will delete it on cleanup
Definition at line 75 of file loopPlanner.h.
| void LoopPlanner::clearSolutions | ( | ) | [virtual] |
Also clears the avoid list.
Reimplemented from EGPlanner.
Definition at line 88 of file loopPlanner.cpp.
| const GraspPlanningState * LoopPlanner::getGrasp | ( | int | i | ) | [virtual] |
Gets grasps from the avoid list instead of the best list.
Reimplemented from EGPlanner.
Definition at line 76 of file loopPlanner.cpp.
| virtual int LoopPlanner::getListSize | ( | ) | [inline, virtual] |
Returns the size of the avoid list.
Reimplemented from EGPlanner.
Definition at line 69 of file loopPlanner.h.
| virtual PlannerType LoopPlanner::getType | ( | ) | [inline, virtual] |
The type of this planner, for easier run-time check.
Reimplemented from SimAnnPlanner.
Definition at line 64 of file loopPlanner.h.
| void LoopPlanner::loopUpdate | ( | ) | [signal] |
Emmitted after a full loop is completed.
Definition at line 81 of file moc_loopPlanner.cpp.
| void LoopPlanner::resetParameters | ( | ) | [protected, virtual] |
Places the best solutions currently available in the avoid list.
The criterion for taking a solution and placing it in the avoid list is currently hard-coded in.
Reimplemented from SimAnnPlanner.
Definition at line 60 of file loopPlanner.cpp.
std::list<GraspPlanningState*> LoopPlanner::mAvoidList [protected] |
The list of states to be avoided during the current loop.
Definition at line 52 of file loopPlanner.h.
float LoopPlanner::mDistanceThreshold [protected] |
The distance to be kept from the avoided states.
Definition at line 54 of file loopPlanner.h.
